CN114072243B

CN114072243B - Multifunctional haptic actuator

Info

Publication number: CN114072243B
Application number: CN201980097939.5A
Authority: CN
Inventors: 格里戈里·埃夫赖诺夫; 帕特瑞克·科; 艾哈迈德·法鲁克; 罗普·莱萨莫
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2019-12-16
Filing date: 2019-12-16
Publication date: 2023-04-04
Anticipated expiration: 2039-12-16
Also published as: KR20220110581A; US20220308673A1; WO2021121542A1; CN114072243A; US12124631B2; EP4066369A1

Abstract

A multifunctional haptic actuator (1) with multiple functional actuation modes comprises an actuation means (2) and at least one movable energy storage (3). The actuation device (2) provides and/or facilitates movement of the accumulator (3) along and/or about a plurality of actuation axes. The energy storage (3) is used for providing electric charge to drive the actuating device (2) and storing the electric charge generated by the actuating device (2). The first functional actuation mode comprises generating mechanical vibrations by providing an electrical charge from the energy storage (3) to the actuation means (2), wherein the electrical charge generates a movement of the energy storage (3). The second functional actuation mode comprises generating an electric charge by mechanical vibration of the energy storage (3), wherein the vibration generates an electric charge in the actuation means (2) and the electric charge is stored in the energy storage (3). This solution provides an actuator whose components can be used for several different actuation modes, for example to provide haptic feedback and harvest energy, thereby reducing the need for separate components for each mode.

Description

Multi-functional haptic actuator

Technical Field

The present disclosure relates to a haptic actuator having multiple functional actuation modes.

Background

As computers move toward miniaturization, it is expected that more and more features will be incorporated into smaller packages. Consumer products such as mobile and wearable devices, smart apparel and accessories thereof may typically include vibrators for generating tactile information such as conventional (alerts) and conditional (directional, numeric, rhythmic, etc.) cues. For example, cell phones and wrist wearable devices (such as smartwatches and trackers) have embedded vibrators for generating haptic feedback signals upon contact with a user.

There are different types of vibration-producing actuators, such as small DC motors with Eccentric Rotating Masses (ERM) and voice-coil motors (VCM) with seismic or shock-proof masses, which have long been the most popular, most robust and most effective technologies.

Obviously, for efficiency, actuators or haptic actuators such as ERM and VCM should be able to produce high acceleration applied to seismic masses that typically have limited displacement in a single direction at the mechanical resonance frequency.

ERM vibration motors produce primarily harmonic vibrations and distribute the force vectors between two orthogonal directions in a plane orthogonal to the axis of the motor shaft. This generally makes it less efficient than unidirectional (linear and/or resonant) haptic actuators.

In the VCM motor, a movable body is attached to a vibration substrate, and is driven back and forth using various physical forces and phenomena or "smart materials". Many such actuators and the devices with which they interact have their own resonant frequency, and therefore it is important to optimize the actuation of the VCM device in the most efficient and effective manner to optimally and dynamically determine and control the drive signals to produce haptic effects. However, actuators of this type are generally limited in their functionality because they generate vibration signals at a narrow frequency bandwidth (effective only around the resonant frequency +/-10 Hz). Further, VCM is not capable of generating highly asymmetric vibration signals over a wide range of oscillation frequencies. In addition, some actuators consume a large amount of power, and their applications are limited due to their size and mass.

Disclosure of Invention

It is an object of the present invention to provide an improved haptic actuator. The above and other objects are achieved by the features of the independent claims. Further embodiments are evident from the dependent claims, the detailed description and the drawings.

According to a first aspect, a multi-function haptic actuator is provided having a plurality of functional actuation modes. The haptic actuator comprises an actuation means and at least one movable energy store, wherein the actuation means provides and/or facilitates movement of the energy store along and/or about a plurality of actuation axes; the energy storage device is used for providing electric charge to drive the actuating device and storing the electric charge generated by the actuating device; the first functional actuation mode includes generating mechanical vibrations by providing electrical charge from the accumulator to the actuation device, wherein the electrical charge generates movement of the accumulator; and the second functional actuation mode includes generating an electrical charge by mechanical vibration of the accumulator, wherein the vibration generates an electrical charge in the actuation device and the electrical charge is stored in the accumulator.

This solution provides an actuator whose components can be used in several different actuation modes, thereby reducing the need for separate components for each mode. The actuator has a simple configuration and structure, can be produced at low cost, and can generate greater rechargeable energy and greater force than linear resonant actuators and/or inertial mass eccentric motors. Furthermore, there is no longer a need to allocate additional space for the seismic mass of the actuator. Furthermore, the weight of the actuator and/or the device mounted therein is reduced.

In one possible implementation of the first aspect, the vibrations are generated at a frequency below 30Hz, and preferably below 20 Hz. This helps to increase the vibration frequency in the optokinetic task and tracking, based on human sensitivity.

In a further possible implementation form of the first aspect, the actuating device generates an electromagnetic force or a piezoelectric force, wherein in the first functional actuation mode the electric charge provided by the energy store to the actuating device generates a force and the force generates a movement of the energy store; and in a second functional actuation mode, mechanical vibration of the accumulator generates a force and the force generates a charge stored in the accumulator. This helps the actuation pattern to provide tactile feedback and/or to generate rechargeable energy.

In yet another possible implementation of the first aspect, the haptic actuator further comprises a third functional actuation mode comprising generating an electrical charge in the actuation device by the magnetic energy emitter, wherein the electrical charge is stored in the energy storage. This facilitates the actuation mode to be able to wirelessly draw power.

In yet another possible implementation form of the first aspect, the plurality of actuation axes comprises at least one linear axis and/or at least one rotational axis.

In yet another possible implementation of the first aspect, the accumulator is moved simultaneously along and/or around a plurality of actuation axes, such that the actuation may be multi-dimensional and preferably three-dimensional.

In yet another possible implementation form of the first aspect, the accumulator moves along a first actuation axis, a second actuation axis and a third actuation axis simultaneously or sequentially, wherein the first actuation axis, the second actuation axis and the third actuation axis form a three-dimensional cartesian coordinate system.

In yet another possible implementation form of the first aspect, the actuation means comprises a voice coil actuator, wherein the voice coil actuator comprises first magnetic coil means generating a movement along a first actuation axis, and the voice coil actuator comprises second magnetic coil means generating a movement along a second actuation axis and a third actuation axis, thereby exploiting the reliability and size of the available actuation components.

In yet another possible implementation of the first aspect, the first magnetic coil means comprises a first magnet and a first coil arranged adjacent to the first magnet, and the second magnetic coil means comprises a second magnet and a second coil arranged adjacent to the second magnet.

In yet another possible implementation of the first aspect, the first coil is arranged such that it extends around a periphery of the first magnet, and the second magnetic coil device further comprises: a third magnet and a third coil arranged adjacent to the third magnet, a fourth magnet and a fourth coil arranged adjacent to the fourth magnet, and a fifth magnet and a fifth coil arranged adjacent to the fifth magnet, wherein the second magnetic coil means is arranged such that it extends around the periphery of the first magnetic coil means, thereby providing an even distribution of force.

In yet another possible implementation of the first aspect, the axis of rotation is the same as the first axis of actuation, and the first magnetic coil means generates a rotation around the axis of rotation.

In yet another possible implementation of the first aspect, the actuation means comprises a multi-layer piezoelectric actuator, or any one of an electromechanical polymer-metal composite or alloy material, a magneto-resistive material, an electro-active material, an optically-active material, a temperature-active material, and a magnetically-active material, whereby any suitable actuator may be selected for use.

In yet another possible implementation of the first aspect, the haptic actuator further comprises at least one elastic element, wherein the elastic element limits the movement of the energy reservoir along and/or around a plurality of actuation axes. The elastic element limits the displacement of the energy storage but provides a maximum magnetic flux variation relative to the fixed position of the coil without limiting the mechanical resonance of the actuator to a specific value within the dynamic frequency range.

According to a second aspect, there is provided a multi-functional haptic actuation system for an electronic device, comprising the haptic actuator described above, a processor, control circuitry, and a flexible battery cable extending from the accumulator to an exterior of the haptic actuator. This approach provides a system whose components can be used for several different actuation modes, for example to provide haptic feedback and harvest energy, thereby reducing the need for separate components for each mode.

In one possible implementation of the second aspect, the haptic actuation system further comprises at least one position sensor for tracking a position of the haptic actuator.

This and other aspects will be apparent from the embodiments described below.

Drawings

In the following detailed description of the present disclosure, various aspects, embodiments and implementations will be explained in more detail with reference to exemplary embodiments shown in the accompanying drawings, in which:

FIG. 1 shows a schematic top view of a multi-functional haptic actuator in accordance with one embodiment of the invention;

FIG. 2 illustrates a cross-sectional view of the multi-stage actuation system shown in FIG. 1;

FIG. 3 shows a schematic diagram of a multi-functional haptic actuation system in accordance with one embodiment of the present invention.

Detailed Description

Fig. 1 and 2 show a multi-function haptic actuator 1 having multiple functional actuation modes.

The haptic actuator 1 comprises an actuation means 2 and at least one movable energy storage 3, preferably arranged within a housing (not shown). The actuation device 2 facilitates movement of the energy storage 3 along and/or around a plurality of actuation axes A1, A2, A3, wherein the energy storage 3 serves as a seismic mass. The plurality of actuation axes may comprise at least one linear axis and/or at least one rotational axis. The axis of rotation may be the same as the first actuation axis A1. The energy storage 3 may be moved simultaneously along and/or about a plurality of actuation axes.

An energy storage 3, for example a battery, is used to provide an electric charge to drive the actuation means 2 and to store the electric charge generated by the actuation means 2.

The first functional actuation mode comprises generating mechanical vibrations by providing an electrical charge from the energy reservoir 3 to the actuation means 2, wherein the electrical charge generates a movement of the energy reservoir 3, also referred to as a tactile feedback mode.

The second functional actuation mode comprises generation of an electric charge by mechanical vibration of the energy storage 3, wherein the vibration generates an electric charge in the actuation means 2 and the electric charge is stored in the energy storage 3, also referred to as energy harvesting mode.

The vibrations may be generated at a frequency below 30Hz and preferably below 20 Hz.

In one embodiment, the actuating means 2 generates an electromagnetic or piezoelectric force. In the first functional actuation mode, the charge provided by the energy store 3 to the actuation means 2 generates a force and the force generates a movement of the energy store 3. In the second functional actuation mode, the mechanical vibrations of the energy store 3 generate a force and the force generates a charge which is stored in the energy store 3.

The haptic actuator 1 may further comprise a third functional actuation mode comprising generating an electric charge in the actuation device 2 by means of a magnetic energy emitter, wherein the electric charge is stored in the energy storage 3, also referred to as wireless charging mode.

In one embodiment the energy storage 3 is moved along a first actuation axis A1, a second actuation axis A2 and a third actuation axis A3 simultaneously or sequentially, wherein the first actuation axis A1, the second actuation axis A2 and the third actuation axis A3 form a three-dimensional cartesian coordinate system as shown in fig. 1 and 2.

The actuation means 2 comprise a voice coil actuator comprising a first magnetic coil means 4 generating a movement along a first actuation axis A1 and a second magnetic coil means 5 generating a movement along a second actuation axis A2 and a third actuation axis A3. The coil may be embedded in the battery housing or the cover plate of the mobile device.

The first magnetic coil device 4 may include a first magnet 6a and a first coil 6b disposed adjacent to the first magnet 6 a. The first coil 6b may be arranged such that it extends around the periphery of the first magnet 6 a. In one embodiment the first magnetic coil means 4 generates rotation about an axis of rotation.

The second magnetic coil device 5 may include a second magnet 7a and a second coil 7b arranged adjacent to the second magnet 7 a. The second magnetic coil device 5 may further comprise a third magnet 8a and a third coil 8b arranged adjacent to the third magnet 8a, a fourth magnet 9a and a fourth coil 9b arranged adjacent to the fourth magnet 9a, and a fifth magnet 10a and a fifth coil 10b arranged adjacent to the fifth magnet 10 a. The pair of magnets and coils are preferably evenly distributed around the first magnetic coil device 4 such that the second magnetic coil device 5 extends around the periphery of the first magnetic coil device 4, i.e. the first coil 6b is arranged between the first magnet 6a and the second magnetic coil device 5.

The actuation means 2 may also comprise a multi-layer piezoelectric actuator, or any of electromechanical polymer-metal composite or alloy materials, magneto-resistive materials, electro-active materials, photo-active materials, temperature-active materials and magneto-active materials (not shown).

The haptic actuator may further comprise at least one elastic element 11 as shown in fig. 2, wherein said elastic element 11 limits the movement of the energy reservoir 3 along and/or around a plurality of actuation axes. The elastic element 11 can limit the displacement of the energy storage 3 but provides a maximum magnetic flux variation with respect to the fixed position of the coil without limiting the mechanical resonance of the actuator to a specific value within the dynamic frequency range.

The invention also relates to a multifunctional haptic actuation system 12 for an electronic device, such as a smartphone, a laptop, a tablet computer or a wearable device like a watch or a bracelet. As shown in fig. 3, the haptic actuation system 12 includes the haptic actuator 1 described above, a processor 13, a control circuit 14, and a flexible battery cable 15 extending from the energy storage 3 to the outside of the haptic actuator 1. The flexible battery cable 15 causes the energy storage 3 of the haptic actuator 1 to move in a predetermined direction to and from the

magnetic coil device

4, 5 and/or to rotate about the rotation axis by generating an appropriate torque vector.

The processor 13 controls the functional actuation modes and functions of the coils, which operate in different ways to harvest energy or to excite the energy storage 3 to oscillate. The control circuit 14 may be activated when the coil is able to pick up electromagnetic energy through mechanical displacement (vibration) of the magnet or a wireless charging power transmitter. Conversely, when a software application of the mobile device needs to send haptic information to the user, a coil drive mechanism (not shown) may be activated.

Haptic actuation system 12 may also include at least one position sensor 16 for tracking the position of haptic actuator 1. The position sensor 16 tracks position by improving the efficiency of the different functional actuation modes.

Various aspects and implementations are described in connection with various embodiments herein. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed subject matter, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the "a" or "an" does not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. A computer program may be stored or distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the internet or other wired or wireless telecommunication systems.

Reference signs used in the claims shall not be construed as limiting the scope. Unless otherwise indicated, the drawings are intended to be read (e.g., cross-hatching, arrangement of parts, proportion, degree, etc.) together with the specification, and are to be considered a portion of the entire written description of this disclosure. As used in the description, the terms "horizontal," "vertical," "left," "right," "up," "down," and adjective and adverb derivatives thereof (e.g., "horizontal," "right," "up," etc.) merely refer to the orientation of the illustrated structure, as the particular figure faces the reader. Similarly, the terms "inwardly" and "outwardly", as the case may be, generally refer to the direction of a surface relative to its axis of extension or rotation.

Claims

1. A multi-function haptic actuator (1) having multiple functional actuation modes,

the haptic actuator (1) comprises:

an actuating device (2) and at least one movable energy store (3), wherein

The actuating device (2) provides and/or facilitates movement of the accumulator (3) along and/or about a plurality of actuation axes;

the energy storage device (3) is used for providing electric charge to drive the actuating device (2) and storing the electric charge generated by the actuating device (2);

the first functional actuation mode comprises generating mechanical vibrations by providing an electrical charge from the energy storage (3) to the actuation means (2), wherein the electrical charge generates a movement of the energy storage (3); and

the second functional actuation mode comprises generating an electric charge by mechanical vibration of the energy storage (3), wherein the vibration generates an electric charge in the actuation device (2) and the electric charge is stored in the energy storage (3).

2. The haptic actuator (1) according to claim 1, characterized in that the vibration is generated at a frequency below 30Hz, preferably below 20 Hz.

3. The haptic actuator (1) according to claim 1 or 2, characterized in that the actuation device (2) generates an electromagnetic or piezoelectric force, wherein

In the first functional actuation mode, the charge supplied by the energy store (3) to the actuation device (2) generates the force and the force generates a movement of the energy store (3); and

in the second functional actuation mode, the mechanical vibration of the energy store (3) generates the force and the force generates a charge which is stored in the energy store (3).

4. The haptic actuator (1) according to claim 1 or 2, further comprising a third functional actuation mode,

the third functional actuation mode comprises generating an electric charge in the actuation device (2) by means of a magnetic energy transmitter, wherein the electric charge is stored in the energy storage (3).

5. The haptic actuator (1) according to claim 1 or 2, characterized in that the plurality of actuation axes comprises at least one linear axis and/or at least one rotational axis.

6. Haptic actuator (1) according to claim 1 or 2, characterized in that the energy storage (3) moves simultaneously along and/or around the multiple actuation axes.

7. The haptic actuator (1) according to claim 1, characterized in that the energy storage (3) moves along a first actuation axis (A1), a second actuation axis (A2) and a third actuation axis (A3) simultaneously or sequentially, wherein

The first actuation axis (A1), the second actuation axis (A2) and the third actuation axis (A3) form a three-dimensional Cartesian coordinate system.

8. The haptic actuator (1) according to claim 7, characterized in that the actuation means (2) comprises a voice coil actuator, wherein

The voice coil actuator comprises a first magnetic coil device (4) generating a movement along the first actuation axis (A1), and

the voice coil actuator comprises second magnetic coil means (5) generating a movement along the second actuation axis (A2) and the third actuation axis (A3).

9. The haptic actuator (1) according to claim 8,

the first magnetic coil device (4) comprises a first magnet (6 a) and a first coil (6 b) arranged adjacent to the first magnet (6 a), and

the second magnetic coil device (5) comprises a second magnet (7 a) and a second coil (7 b) arranged adjacent to the second magnet (7 a).

10. The haptic actuator (1) according to claim 9,

the first coil (6 b) is arranged such that it extends around the periphery of the first magnet (6 a), an

The second magnetic coil device (5) further comprises: a third magnet (8 a) and a third coil (8 b) arranged adjacent to the third magnet (8 a), a fourth magnet (9 a) and a fourth coil (9 b) arranged adjacent to the fourth magnet (9 a), and a fifth magnet (10 a) and a fifth coil (10 b) arranged adjacent to the fifth magnet (10 a), wherein

The second magnetic coil device (5) is arranged such that it extends around the periphery of the first magnetic coil device (4).

11. The haptic actuator (1) according to any one of claims 8 to 10, characterized in that the plurality of actuation axes comprises at least one linear axis and/or at least one rotation axis;

the axis of rotation being identical to the first axis of actuation (A1), an

The first magnetic coil device (4) generates a rotation about the axis of rotation.

12. The haptic actuator (1) according to claim 1 or 2, characterized in that the actuation means (2) comprises a multi-layer piezoelectric actuator, or any one of an electromechanical polymer-metal composite or alloy material, a magneto-resistive material, an electro-active material, an optically active material, a temperature active material and a magnetically active material.

13. Haptic actuator (1) according to claim 1 or 2, characterized in that it further comprises at least one elastic element (11), wherein the elastic element (11) limits the movement of the energy storage (3) along and/or around the plurality of actuation axes.

14. A multifunctional haptic actuation system (12) for an electronic device, characterized by comprising a haptic actuator (1) according to any of claims 1 to 13, a processor (13), a control circuit (14) and a flexible battery cable (15) extending from the energy storage (3) to the outside of the haptic actuator (1).

15. Multifunctional haptic actuation system (12) according to claim 14, characterized in that it further comprises at least one position sensor (16) for tracking the position of the haptic actuator (1).